/********************************************************************************
 * Copyright 2009 The Robotics Group, The Maersk Mc-Kinney Moller Institute,
 * Faculty of Engineering, University of Southern Denmark
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ********************************************************************************/

#ifndef RWLIBS_OPENGL_RENDERSCAN_HPP_
#define RWLIBS_OPENGL_RENDERSCAN_HPP_

//! @file RenderScan.hpp

#include <rw/core/Ptr.hpp>
#include <rw/geometry/PointCloud.hpp>
#include <rw/graphics/Render.hpp>

namespace rw { namespace sensor {
    class Scanner25DModel;
}}    // namespace rw::sensor

namespace rwlibs { namespace opengl {

    //! @addtogroup opengl
    // @{

    /**
     * @brief renders Image25D, Scan2D or a simple distance.
     */
    class RenderScan : public rw::graphics::Render
    {
      public:
        //! @brief smart pointer type to this class
        typedef rw::core::Ptr< RenderScan > Ptr;

        //! @brief constructor
        RenderScan ();

        //! @brief constructor
        RenderScan (const rw::geometry::PointCloud& img);

        /**
         * @brief the renderer will pull the scanner for
         * @param scanner
         * @return
         */
        RenderScan (const rw::core::Ptr< rw::sensor::Scanner25DModel > scanner);

        //! @brief destructor
        virtual ~RenderScan ();

        /**
         * \brief set a 2.5 dimensional scan
         * @param img
         */
        void setScan (const rw::geometry::PointCloud& img);

        /**
         * \brief set a one dimensional scan
         * @param dist
         */
        void setScan (float dist);

        /**
         * @brief the minimum depth of the points, where depth is in
         * the negative z-axis direction
         * @param depth [in] depth in the negative z-axis direction
         */
        void setMinDepth (float depth) { _minDepth = depth; };

        /**
         * @brief the maximum depth of the points, where depth is in
         * the negative z-axis direction
         * @param depth [in] depth in the negative z-axis direction
         */
        void setMaxDepth (float depth) { _maxDepth = depth; };

        //! @copydoc rw::graphics::Render::draw(const DrawableNode::RenderInfo& info,
        //! DrawableNode::DrawType type, double alpha) const
        void draw (const rw::graphics::DrawableNode::RenderInfo& info,
                   rw::graphics::DrawableNode::DrawType type, double alpha) const;

      private:
        // rw::sensor::Scanner25DModel::Ptr _scanner;
        rw::geometry::PointCloud _img;
        float _minDepth, _maxDepth;
    };
    //! smart pointer type
    typedef rw::core::Ptr< RenderScan > RenderScanPtr;

    //! @}
}}     // namespace rwlibs::opengl
#endif /* RENDERSCAN_HPP_ */
